Definition
set_tcp(name)
Features
This function calls the name of the TCP registered in the Teach Pendant and sets it as a safety TCP and a temporal TCP. To configure only the temporal TCP, use the set_temp_tcp() command.
-
Safety TCP: TCP information used for safety functions, primarily as a reference for safety zone checks.
-
Temporal TCP: TCP information used for motion and control functions, serving as the center for workspace motions such as movel() and for force/compliance control. When the temporal TCP is reset using the reset_temp_tcp() command, it will revert to the currently set safety TCP.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
name |
string |
- |
Name of the TCP registered in the TP. |
Return
|
Value |
Description |
|---|---|
|
0 |
Success |
|
Negative value |
Failed |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
|
DR_Error (DR_ERROR_VALUE) |
Parameter value is invalid |
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcefully |
Example
P0 = posj(0,0,90,0,90,0)
movej(P0, vel=30, acc=30)
set_tcp("tcp1") # The TCP data registered as tcp1 in the TP is called and set to the current TCP value.
P1 = posx(400,500,800,0,180,0)
movel(P1, vel=10, acc=20) # Moves the recognized center of the tool to the P1 position.
Related commands
Keyword
set / set_ / tcp